CN213676932U - Intelligent chassis attitude leveling system - Google Patents

Abstract

An intelligent chassis attitude leveling system relates to the field of agricultural mechanical equipment and comprises a chassis body, two support arms arranged at the front end and the rear end of the chassis body and a travelling wheel connected with each support arm, wherein the travelling wheel is connected with the support arms through heightening arms, and the heightening arms are perpendicular to the support arms and hinged to form hinge points A; a hydraulic motor is fixed at one end of the heightening arm far away from the hinge point A, and an output shaft of the hydraulic motor is fixed with the traveling wheel to drive the traveling wheel to rotate; a heightening oil cylinder is arranged between the heightening arm and the support arm, and two ends of the heightening oil cylinder are respectively hinged with the heightening arm and the support arm; the heightening arm swings around a hinge point A due to the stretching of the heightening oil cylinder; through adopting brand-new design, add between every walking wheel and support arm and increase the arm to the cooperation increases the hydro-cylinder and realizes the regulation of chassis body ground clearance.

Description

Intelligent chassis attitude leveling system

Technical Field

The utility model relates to agricultural mechanical equipment field specifically is the chassis gesture intelligent leveling system of application on agricultural machinery.

Background

With the development of mechanical, hydraulic and electronic control technologies, the integration of intelligent agricultural equipment is applied to various fields of agricultural production, and various automatic agricultural equipment gradually replaces human labor.

The terrain in China is complex, the planted crops are various in types, different crop plants and the plant heights of the same crop in different growth periods are different, so that the requirement for adjusting the ground clearance between the vehicle body and the ground is met, but the current agricultural machine is poor in adaptability, and the ground clearance which cannot be effectively adjusted becomes an obstacle for the development of the agricultural machine.

Therefore, how to reasonably design the vehicle body structure, especially the chassis structure, so that the adjustment of the ground clearance can be completed and good operation effect can be ensured is the direction of current design and research.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model provides a new technical scheme to realize the regulation of chassis ground clearance.

The utility model provides a technical scheme as follows:

the intelligent chassis attitude leveling system comprises a chassis body, two support arms arranged at the front end and the rear end of the chassis body and a travelling wheel connected with each support arm, wherein the travelling wheel is connected with the support arms through a heightening arm, and the heightening arm is perpendicular to the support arms and hinged with the support arms to form a hinge point A; a hydraulic motor is fixed at one end of the heightening arm far away from the hinge point A, and an output shaft of the hydraulic motor is fixed with the traveling wheel to drive the traveling wheel to rotate;

a heightening oil cylinder is arranged between the heightening arm and the support arm, and two ends of the heightening oil cylinder are respectively hinged with the heightening arm and the support arm;

the heightening arm swings around a hinge point A due to the stretching of the heightening oil cylinder.

Furthermore, a vertical pin shaft is arranged at the center of the front end of the chassis body, and a hinge lug is arranged at the side edge of the front end;

defining the two support arms as a first support arm and a second support arm, wherein a pin column is arranged on the first support arm, a pin hole is arranged in the pin column, the pin hole is matched with the pin shaft, and the pin shaft is inserted in the pin hole;

a steering oil cylinder is further arranged between the first support arm and the chassis body, and two ends of the steering oil cylinder are respectively hinged with the first support arm and the hinge lug;

and the first support arm rotates around the pin shaft by the extension and retraction of the steering oil cylinder.

Further, the first support arm is arranged on the lower end face of the chassis body, and the pin shaft is perpendicular to the chassis body and extends downwards to be inserted into the pin hole; the second bracket arm is fixedly arranged on the upper end face of the chassis body.

Further, the support arm comprises a cross beam, a first swing arm and a second swing arm;

the cross beam is connected with the chassis body;

the two first swing arms are respectively hinged to two ends of the cross beam, a swing oil cylinder is arranged between each first swing arm and the cross beam, two ends of each swing oil cylinder are respectively hinged to the cross beam and the corresponding first swing arm, and the first swing arms rotate due to the expansion and contraction of the swing oil cylinders;

one end of the second swing arm is hinged with the heightening arm, and the other end of the second swing arm is hinged with the first swing arm; and a directional connecting rod parallel to the first swing arm is further arranged between the second swing arm and the cross beam, and two ends of the directional connecting rod are respectively hinged with the cross beam and the second swing arm, so that the second swing arm is always vertical to the cross beam.

Furthermore, a hinge seat is arranged at one end, far away from the first swing arm, of the second swing arm, and a first hinge part and a second hinge part are arranged on the hinge seat; the heightening arm is hinged with the first hinge; the heightening oil cylinder is hinged with the second hinged part.

Furthermore, a through hole is formed in the second swing arm, a rotating shaft matched with the through hole is arranged on the hinge seat, and the rotating shaft is inserted into the through hole to enable the hinge seat and the second swing arm to be rotatably connected; articulated seat with be equipped with the declination hydro-cylinder between the second swing arm, the both ends of declination hydro-cylinder respectively with articulated seat the second swing arm is articulated, thereby the flexible messenger of declination hydro-cylinder articulated seat increase the arm and rotate and make the walking wheel produces the deflection.

Further, the chassis attitude intelligent leveling system further comprises a controller; the chassis body is provided with a horizontal sensor, and the horizontal sensor is used for sensing and monitoring whether the chassis body is in a horizontal state or not and feeding back the real-time state of the chassis body to the controller;

the height-increasing arm is also provided with a position sensor, and the position sensor is used for sensing and monitoring the travel state of the traveling wheels and feeding the traveling data of the traveling wheels back to the controller.

The beneficial effect that adopts this technical scheme to reach does:

by adopting a brand-new design, a heightening arm is additionally arranged between each travelling wheel and the support arm, and the heightening oil cylinder is matched to realize the adjustment of the ground clearance of the chassis body; and in this scheme, every walking wheel is independent individuality, receives control system's independent control, and each other is not correlated with between walking wheel and the walking wheel, compares in traditional mode of connecting the walking wheel through the axletree and forming front wheel group and rear wheel group, and the independent walking wheel of this scheme design can effectually avoid influence each other to solitary walking wheel structure more is favorable to the different topography structure of adaptation, has great promotion effect to the flat dish body of changing.

Drawings

Fig. 1 is a structural diagram of the chassis system in a normal total walking state in the present scheme.

Fig. 2 is an exploded view of the chassis system.

Fig. 3 is a matching structure diagram of the heightening arm, the walking wheel and the bracket arm.

Fig. 4 is a schematic structural diagram of the heightening oil cylinder extending to increase the ground clearance.

Fig. 5 is a partially enlarged view of fig. 3, showing the structure of the hinge base.

FIG. 6 is a schematic view of a prior four-wheeled agricultural machine walking on a sloping ground.

Fig. 7 is a schematic view of the traveling wheel provided by the scheme when the traveling wheel travels on a slope ground.

Fig. 8 is a structural view of the holder arm.

Fig. 9 is a perspective view of the chassis system after the track is changed.

FIG. 10 is a top view of the chassis system after a change in track width.

Wherein: the lifting mechanism comprises a chassis body 10, a pin shaft 11, a hinge lug 12, a support arm 20, a first support arm 21, a second support arm 22, a cross beam 20-1, a first swing arm 20-2, a second swing arm 20-3, a swing oil cylinder 20-4, a directional connecting rod 20-5, a steering oil cylinder 23, a hinge seat 24, a heightening arm 30, a heightening oil cylinder 31, a travelling wheel 100, a hydraulic motor 101, a first hinge part 241, a second hinge part 242 and an angle-deflection oil cylinder 243.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

The embodiment makes an optimized structural design aiming at the chassis system of the agricultural machine, particularly adjusts the posture of the chassis, so that the chassis system meets the requirements of different terrains and different crop treatment, and better serves modern agriculture.

Specifically, referring to fig. 1-2, the proposed chassis attitude intelligent leveling system includes a chassis body 10, bracket arms 20 are provided at front and rear ends of the chassis body 10, walking wheels 100 are provided at two ends of the bracket arms 20, and the chassis body 10, the bracket arms 20 and the walking wheels 100 together constitute a chassis system of a modern common four-wheel agricultural machine.

In this embodiment, referring to fig. 2 to 3, the traveling wheel 100 is not directly and fixedly connected to the support arm 20, but is connected to the support arm 20 through the heightening arm 30, specifically, a hydraulic motor 101 is fixed to one end of the heightening arm 30, and an output shaft of the hydraulic motor 101 is fixed to the traveling wheel 100 to drive the traveling wheel 100.

It should be noted that each heightening arm 30 is provided with a hydraulic motor 101, and it can be understood that each walking wheel 100 is controlled by an independent hydraulic motor 101, that is, the rotation walking of each walking wheel 100 is independently controlled, and the independent control can effectively reduce the linkage influence generated between the walking, so that the chassis system can adapt to changeable terrain structures.

Optionally, a spoke motor can be used for replacing a hydraulic motor in the scheme, and the spoke motor is used for driving the traveling wheels 100 to realize traveling of the whole chassis system; utilize spoke motor to compare in hydraulic motor, be favorable to green and reduce cost more.

In this embodiment, the heightening arm 30 is vertically arranged with the support arm 20 and hinged with the support arm 20 to form a hinge point a; the heightening arm 30 can rotate by taking the hinge point A as a base point; the rotation of the heightening arm 30 is realized by a heightening oil cylinder 31, that is, the heightening oil cylinder 31 is arranged between the heightening arm 30 and the support arm 20, and two ends of the heightening oil cylinder 31 are respectively hinged with the heightening arm 30 and the support arm 20.

Referring to fig. 3-4, since the heightening arm 30 is movably hinged to the support arm 20, when the heightening cylinder 31 is in telescopic action, the heightening arm 30 will swing around the hinge point a, and the swing of the heightening arm 30 will support the change of the ground clearance of the chassis body 10, so as to adjust the height between the chassis body 10 and the ground.

Specifically, when the heightening cylinder 31 starts to extend from the retracted state, the walking wheels 100 always act on the ground, the heightening cylinder 31 extends to enable the heightening arm 30 and the support arm 20 to rotate relatively, and the support arm 20 supports the chassis body 10, so that the chassis body 10 ascends gradually.

Similarly, when the heightening cylinder 31 starts to retract from the extended state, the heightening cylinder 31 retracts to make the support arm 20 drive the chassis body 10 to descend gradually.

Through utilizing mutual cooperation of support arm 20, increase arm 30 and increase hydro-cylinder 31, realize the change to chassis body 10 ground clearance size to strengthen the adaptability of agricultural machinery to the farming of co-altitude not.

Meanwhile, in order to ensure real-time monitoring of the horizontal state condition of the chassis body 10 and monitoring of the travel state condition of the road wheels 100; in this embodiment, a level sensor is disposed on the chassis body 10 and a position sensor is disposed on the height-increasing arm 30, both of which are electrically connected to the controller.

The horizontal sensor is used for sensing and monitoring whether the chassis body 10 is in a horizontal state or not and feeding back the real-time state of the chassis body 10 to the controller; position sensors are used to sense and monitor the travel data of the road wheels 100 and transmit the data to the controller in real time.

In this embodiment, referring to fig. 3 and 5, a hinge base 24 is disposed on the support arm 20, and a first hinge portion 241 and a second hinge portion 242 are disposed on the hinge base 24; the heightening arm 30 is hinged to the first hinge 241; the heightening oil cylinder 31 is hinged to the second hinge part 242, and a hinge point is avoided being required to be arranged on the support arm 20 in a mode of arranging the hinge seat 24, so that the processing difficulty of the support arm 20 is reduced.

Meanwhile, in the embodiment, the existence of the hinge seat 24 provides convenience for the walking wheel 100 to generate a deflection angle, specifically, a through hole is formed in the support arm 20, a rotating shaft matched with the through hole is arranged on the hinge seat 24, and the rotating shaft is inserted into the through hole to enable the hinge seat 24 to be rotatably connected with the support arm 20; the height-increasing arm 30 is driven to rotate by the hinge seat 24 in a rotatable manner, so that the traveling wheels 100 arranged on the height-increasing arm 30 are deflected.

The rotation of the articulated seat 24 is realized by an angle deviation oil cylinder 243, that is, an angle deviation oil cylinder 243 is arranged between the articulated seat 24 and the support arm 20, two ends of the angle deviation oil cylinder 243 are respectively articulated with the articulated seat 24 and the support arm 20, and the extension and retraction of the angle deviation oil cylinder 243 enable the articulated seat 24 and the heightening arm 30 to rotate so as to enable the travelling wheel 100 to deflect.

Here set up walking wheel 100 and produce the bottom surface condition that deflects mainly applicable to different slopes, see fig. 6, when one side of traditional four-wheel agricultural machinery was walked on slope, will lead to whole chassis system to be in the tilt state, make the agricultural machinery possess the danger of toppling, consequently, through the cooperation between declination hydro-cylinder 243 and the rotatable articulated seat 24 in this scheme, see fig. 7, guarantee that walking wheel 100 is perpendicular with the bottom surface of contact all the time, even the walking wheel 100 of one side is located the slope, through adjusting it deflects, make walking wheel 100 on the slope perpendicular with the slope plane, thereby guarantee the level steady condition of chassis body 10, avoid chassis body 10 to appear the slope and make whole agricultural machinery have the danger of toppling.

For better control, in the present embodiment, a declination sensor electrically connected to the controller is disposed near the road wheel 100, and the declination sensor is used for sensing and monitoring the declination degree of the road wheel 100, so as to generate the declination degree.

In other embodiments, the declination oil cylinder in the intelligent chassis attitude leveling system can also adopt a double-rod oil cylinder in a closed circulation mode with one oil line in and one oil line out, the double-rod oil cylinder is favorable for simplifying the control connection relation, and the automatic adjustment of the inclination angle of the walking wheel can be realized only along with the swinging of the swing arm.

In the chassis attitude intelligent leveling system provided by the embodiment, a steering structure is further arranged; referring to fig. 1 to 2, that is, for convenience of description, two of the bracket arms 20 are defined as a first bracket arm 21 and a second bracket arm 22, the first bracket arm 21 is disposed at a front end of the chassis body 10, and the second bracket arm 22 is disposed at a rear end of the chassis body 10; in order to realize the steering function, a vertical pin shaft 11 is arranged at the center of the front end of the chassis body 10, and a hinge lug 12 is arranged at the side edge of the front end; a pin column is arranged on the first support arm 21, a pin hole is arranged in the pin column, the pin hole is matched with the pin shaft 11, and the pin shaft 11 is inserted in the pin hole; a steering oil cylinder 23 is further arranged between the first support arm 21 and the hinge lug 12, and two ends of the steering oil cylinder 23 are respectively hinged with the first support arm 21 and the hinge lug 12.

The existence of the hinge lug 12 provides good supporting force for the steering cylinder 23, when the steering cylinder 23 performs telescopic action, the first support arm 21 at the front end of the chassis body 10 will rotate around the pin shaft 11, and the advancing direction of the whole chassis system is controlled by the steering cylinder 23.

Specifically, in this embodiment, the first bracket arm 21 is disposed on the lower end surface of the chassis body 10, and the pin 11 is perpendicular to the chassis body 10 and extends downward to be inserted into the pin hole; the second bracket arm 22 is fixedly disposed on the upper end surface of the chassis body 10.

By arranging the first support arm 21 on the lower end face of the chassis body 10, the rotation of the first support arm 21 is facilitated, and the interference influence of the chassis body 10 on the first support arm 21 is avoided.

Meanwhile, the structure of the stand arm 20 is further improved in the present embodiment, and in particular, referring to fig. 8, the stand arm 20 includes a cross member 20-1, a first swing arm 20-2 and a second swing arm 20-3.

Wherein the cross beam 20-1 is connected with the chassis body 10; it is to be noted that, since the two holder arms 20 of the present embodiment are defined as the first holder arm 21 and the second holder arm 22, the first holder arm 21 and the second holder arm 22 each include the cross member 20-1, the first swing arm 20-2, and the second swing arm 20-3; therefore, in the embodiment, the cross beam 20-1 of the first bracket arm 21 is rotatably connected with the chassis body 10 through the pin 11, and the cross beam 20-1 of the second bracket arm 22 is fixedly connected with the chassis body 10 through the bolt; fig. 8 illustrates only the second holder arm 22 as an example.

The first swing arm 20-2 is disposed at two ends of the cross beam 20-1 and is hinged to the cross beam 20-1, a swing cylinder 20-4 is disposed between the first swing arm 20-2 and the cross beam 20-1, two ends of the swing cylinder 20-4 are hinged to the cross beam 20-1 and the first swing arm 20-2, respectively, and the first swing arm 20-2 swings relative to the cross beam due to the expansion and contraction of the swing cylinder 20-4.

The second swing arm 20-3 is hinged with the first swing arm 20-2; a directional connecting rod 20-5 parallel to the first swing arm 20-2 is further disposed between the second swing arm 20-3 and the cross beam 20-1, and both ends of the directional connecting rod 20-5 are respectively hinged to the cross beam 20-1 and the second swing arm 20-3, so that the second swing arm 20-3 is always perpendicular to the cross beam 20-1.

Of course, the beam 20-1, the first swing arm 20-2 and the second swing arm 20-3 are hinged to each other by subdividing the structure of the holder arm 20; it should be noted that the hinge base 24 is movably disposed on the second swing arm 20-3, i.e., a through hole is disposed on the second swing arm 20-3, the rotating shaft of the hinge base 24 is rotatably connected to the second swing arm 20-3 through the through hole, and the tilt cylinder 243 is hinged at an intermediate position of the second swing arm 20-3.

Referring to fig. 9-10, by further designing the structure of the support arm 20, the structure of the conventional support arm 20 is designed to be composed of a cross beam 20-1, a first swing arm 20-2 and a second swing arm 20-3 which are hinged to each other, and by matching with the action of the swing cylinder 20-4, the distance between two opposite road wheels 100 can be changed, so that the walking width of the whole chassis system can be changed according to the actual ground conditions.

The intelligent chassis attitude leveling system provided by the embodiment can be connected with each sensor and each level of driving device through the controller, and the height, the wheel track and the wheel deflection angle of the chassis are adjusted through feedback, so that the chassis is ensured to be in a horizontal operation attitude.

Especially when the operation needs to be transferred, different operation ground surfaces may have different road widths, and different crop row distances exist among different crops, so that the distance between the walking wheels 100 can be changed and adjusted, the normal passing of agricultural machinery can be effectively guaranteed, the applicability of the agricultural machinery is greatly improved, and the increase of the wheel distance is more beneficial to guaranteeing the stability during walking so as to reduce risks.

The specific pitch change operating principle is as follows: the swing cylinder 20-4 is extended to swing the first swing arm 20-2 relative to the cross member 20-1, and the first swing arm 20-2 is swung from an initial bent state in a direction approaching a parallel and collinear state with the cross member 20-1, so that the swing of the first swing arm 20-2 causes the second swing arm 20-3 to synchronously expand and move towards the outside, but a directional link 20-5 is arranged between the second swing arm 20-3 and the cross member 20-1, the existence of the directional link 20-5 causes the second swing arm 20-3 to always keep a vertical state with the cross member 20-1, and the second swing arm 20-3 ensures that the traveling wheel 100 does not change the position.

The chassis gesture intelligence leveling system that this scheme provided can realize the change of the wheel base between the walking wheel 100, can realize the change of ground clearance between chassis body 10 and the ground, can also realize the change of walking wheel 100 and ground contained angle, can follow the ground automatic response and keep the level of chassis body steady, guarantee that the operation portion of getting on the bus is in the horizontality, exert good design operating performance and operation performance, can be extensive be used for on vehicle systems such as mountain region, orchard, the tea garden, forestry, municipal afforestation, the district afforestation, highway afforestation management.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (7)

1. Chassis gesture intelligence leveling system includes chassis body (10), establishes two support arms (20) at both ends around chassis body (10) and with every walking wheel (100) that support arm (20) are connected, its characterized in that:

the walking wheel (100) is connected with the support arm (20) through a heightening arm (30), and the heightening arm (30) is perpendicular to the support arm (20) and hinged to form a hinge point A; a hydraulic motor (101) is fixed at one end of the heightening arm (30) far away from the hinge point A, and an output shaft of the hydraulic motor (101) is fixed with the walking wheel (100) to drive the walking wheel (100) to rotate;

a heightening oil cylinder (31) is arranged between the heightening arm (30) and the support arm (20), and two ends of the heightening oil cylinder (31) are respectively hinged with the heightening arm (30) and the support arm (20);

the heightening oil cylinder (31) is stretched to enable the heightening arm (30) to swing around a hinge point A.

2. The intelligent chassis attitude leveling system according to claim 1, wherein a vertical pin shaft (11) is arranged at the center of the front end of the chassis body (10), and hinge lugs (12) are arranged at the side edges of the front end;

defining the two support arms (20) as a first support arm (21) and a second support arm (22), wherein a pin column is arranged on the first support arm (21), a pin hole is formed in the pin column, the pin hole is matched with the pin shaft (11), and the pin shaft (11) is inserted in the pin hole;

a steering oil cylinder (23) is further arranged between the first support arm (21) and the chassis body (10), and two ends of the steering oil cylinder (23) are respectively hinged with the first support arm (21) and the hinge lug (12);

the first support arm (21) rotates around the pin shaft (11) due to the stretching of the steering oil cylinder (23).

3. The chassis attitude intelligent leveling system according to claim 2, wherein the first bracket arm (21) is provided on a lower end surface of the chassis body (10), and the pin shaft (11) is perpendicular to the chassis body (10) and extends downward to be inserted into the pin hole; the second bracket arm (22) is fixedly arranged on the upper end face of the chassis body (10).

4. The chassis attitude intelligent leveling system according to claim 1, wherein the stand arm (20) comprises a cross beam (20-1), a first swing arm (20-2) and a second swing arm (20-3);

the cross beam (20-1) is connected with the chassis body (10);

the two first swing arms (20-2) are respectively hinged to two ends of the cross beam (20-1), a swing oil cylinder (20-4) is arranged between the first swing arm (20-2) and the cross beam (20-1), two ends of the swing oil cylinder (20-4) are respectively hinged to the cross beam (20-1) and the first swing arm (20-2), and the first swing arm (20-2) rotates due to the expansion and contraction of the swing oil cylinder (20-4);

one end of the second swing arm (20-3) is hinged with the heightening arm (30), and the other end of the second swing arm is hinged with the first swing arm (20-2); and a directional connecting rod (20-5) parallel to the first swing arm (20-2) is further arranged between the second swing arm (20-3) and the cross beam (20-1), and two ends of the directional connecting rod (20-5) are respectively hinged with the cross beam (20-1) and the second swing arm (20-3) so that the second swing arm (20-3) is always perpendicular to the cross beam (20-1).

5. The chassis attitude intelligent leveling system according to claim 4, wherein the end of the second swing arm (20-3) far away from the first swing arm (20-2) is provided with a hinge base (24), and the hinge base (24) is provided with a first hinge portion (241) and a second hinge portion (242); the heightening arm (30) is hinged to the first hinge (241); the heightening oil cylinder (31) is hinged with the second hinge part (242).

6. The chassis attitude intelligent leveling system according to claim 5, wherein a through hole is formed in the second swing arm (20-3), a rotating shaft adapted to the through hole is formed in the hinge base (24), and the rotating shaft is inserted into the through hole so that the hinge base (24) and the second swing arm (20-3) are rotatably connected; an offset angle oil cylinder (243) is arranged between the hinged seat (24) and the second swing arm (20-3), two ends of the offset angle oil cylinder (243) are hinged to the hinged seat (24) and the second swing arm (20-3) respectively, and the telescopic structure of the offset angle oil cylinder (243) enables the hinged seat (24) and the heightening arm (30) to rotate so that the traveling wheel (100) deflects.

7. The chassis attitude intelligent leveling system of claim 1, further comprising a controller;

the chassis body (10) is provided with a horizontal sensor electrically connected with the controller, and the horizontal sensor is used for sensing and monitoring whether the chassis body (10) is in a horizontal state;

the height increasing arm (30) is provided with a position sensor electrically connected with the controller, and the position sensor is used for sensing and monitoring the stroke state of the walking wheel (100).

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